TWI380899B - Servopress apparatus and its control method - Google Patents
Servopress apparatus and its control method Download PDFInfo
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- TWI380899B TWI380899B TW096144907A TW96144907A TWI380899B TW I380899 B TWI380899 B TW I380899B TW 096144907 A TW096144907 A TW 096144907A TW 96144907 A TW96144907 A TW 96144907A TW I380899 B TWI380899 B TW I380899B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/14—Control arrangements for mechanically-driven presses
- B30B15/148—Electrical control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B13/00—Methods of pressing not special to the use of presses of any one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B1/00—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen
- B30B1/26—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by cams, eccentrics, or cranks
- B30B1/268—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by cams, eccentrics, or cranks using a toggle connection between driveshaft and press ram
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/14—Control arrangements for mechanically-driven presses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/30—Feeding material to presses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
- Control Of Presses (AREA)
Description
本發明係有關具備以伺服馬達驅動滑件的伺服壓機裝置、與將工件搬入及/或搬出該裝置的搬送裝置之伺服壓機設備及其控制方法。The present invention relates to a servo press device including a servo press device that drives a slider by a servo motor, and a servo press device that transports a workpiece into and/or out of the device, and a control method therefor.
當附設有將工件搬入．搬出壓機裝置的搬送裝置時，為了使將工件成形加工之模具與搬送裝置不會衝突(干涉)，必須要使彼此的動作同步。When attached, the workpiece is moved in. When the conveyance device of the press device is carried out, it is necessary to synchronize the movements of the mold and the conveyance device without colliding (interfering) with the conveyance device.
在習知的控制方法中，主要以機械式壓機(曲柄軸式壓機、肘節式壓機、無曲柄軸式壓機、連桿式壓機等)為對象，並以壓機本體的動作為主(master)。亦即，例如當為曲柄軸式壓機時，係採用搬送裝置同步於驅動滑件之曲柄軸(主驅動軸)的旋轉而動作之構成。還有，於專利文獻1揭示有如此的控制手段的一例。Among the conventional control methods, mainly mechanical presses (crankshaft presses, toggle presses, crankless presses, link presses, etc.) are targeted, and the press body is The action is master. That is, for example, in the case of a crankshaft type press, the conveying means is configured to operate in synchronization with the rotation of the crankshaft (main drive shaft) of the drive slider. Further, Patent Document 1 discloses an example of such a control means.
另一方面，近年來已開發有以伺服馬達驅動滑件的伺服壓機裝置(例如，專利文獻2)。On the other hand, in recent years, a servo press device that drives a slider with a servo motor has been developed (for example, Patent Document 2).
專利文獻1的「壓機用自動搬送控制方法及裝置」係，根據壓機用脈衝編碼器所產生的脈衝數，利用程式製作位置曲線，搬送裝置追從該位置曲線而動作者。In the "automatic transfer control method and apparatus for presses" of Patent Document 1, the position curve is created by a program based on the number of pulses generated by the pulse encoder for the press, and the transport device follows the position curve and moves the author.
專利文獻2的「伺服馬達驅動型連桿式壓機」其目的在即使是使用輸出較小的馬達，仍可達到以高衝壓荷重進行之加工及加工週期時間(cycle time)的改善，且控制性亦優異，此外，能夠進行多種的加工，如第1圖所示，具備將旋轉運動轉換成直線運動的連桿機構a、與以該直線運動進行衝壓加工而進行升降的衝頭(ram)b，並設有從伺服馬達c傳達驅動至連桿機構a的曲柄軸d之驅動傳達系統e，該驅動傳達系統e係以藉由伺服馬達c的旋轉控制而可控制衝頭b的升降運動之方式而能夠傳達驅動，並設有控制伺服馬達c之伺服馬達控制手段f使衝頭b可在升降行程(stroke)範圍內任意位置停止。The "servo motor-driven link type press" of Patent Document 2 has the object of achieving processing and cycle time improvement with high punch load even with a motor having a small output, and controlling Further, it is excellent in various properties, and as shown in Fig. 1, there is provided a link mechanism a for converting a rotary motion into a linear motion, and a punch (ram) for lifting and lowering by the linear motion. b, and is provided with a drive transmission system e that transmits a crank shaft d driven from the servo motor c to the link mechanism a, and the drive transmission system e controls the lifting movement of the punch b by the rotation control of the servo motor c In this manner, the drive can be transmitted, and the servo motor control means f for controlling the servo motor c is provided so that the punch b can be stopped at any position within the range of the stroke.
專利文獻1：日本專利第3340095號說明書，「壓機用自動搬送控制方法及裝置」專利文獻2：日本特開2003－320489號公報，「伺服馬達驅動型連桿式壓機」Patent Document 1: Japanese Patent No. 3340095, "Automatic Transfer Control Method and Apparatus for Presses" Patent Document 2: Japanese Laid-Open Patent Publication No. 2003-320489, "Servo Motor Drive Type Link Type Press"
以伺服馬達驅動滑件的伺服壓機裝置並非只有連桿式壓機，其他形式的機械式壓機(曲柄軸式壓機、肘節式壓機、無曲柄軸式壓機、螺旋式壓機等)亦能夠伺服壓機化，近年來，該些伺服壓機裝置的開發係與日增進。The servo press device that drives the slider with the servo motor is not only the link press, but also other types of mechanical presses (crankshaft press, toggle press, crankless press, screw press) In addition, servo compression can also be achieved. In recent years, the development of these servo press devices has been increasing.
然而，當附設將工件搬入．搬出該些伺服壓機裝置的搬送裝置時，若如專利文獻1以主驅動軸(例如曲柄軸)的旋轉為主(master)，使搬送裝置(搬入裝置與搬出裝置)同步於該旋轉而動作，會有以下的問題點。However, when attached, the workpiece is moved in. When the transport device of the servo press device is carried out, the rotation of the main drive shaft (for example, the crankshaft) is mainly performed in the patent document 1, and the transport device (the carry-in device and the carry-out device) are operated in synchronization with the rotation. There will be the following problems.
(1)伺服壓機裝置具有能夠使主驅動軸(例如曲柄軸)的旋轉速度自由變化的特徵。因此，甚至能夠在運轉中途一時反轉。(1) The servo press device has a feature that the rotational speed of the main drive shaft (for example, the crankshaft) can be freely changed. Therefore, it is possible to reverse even at the middle of the operation.
然而，當使搬送裝置的動作如習知技術同步於主驅動軸時，當使主驅動軸的旋轉速度變化時，搬送裝置的動作亦隨之變化，因此，有搬送裝置的動作不滑順而使把持的工作掉落、或搬送裝置的馬達轉矩瞬間變得過大致使保護裝置發生動作之虞。However, when the operation of the conveying device is synchronized with the main drive shaft as in the prior art, when the rotation speed of the main drive shaft is changed, the operation of the conveying device also changes, so that the operation of the conveying device does not slip smoothly. The operation of dropping the grip or the motor torque of the conveying device is instantaneously caused to substantially cause the protection device to operate.
(2)此外，當主驅動軸在運轉中途一時反轉時，由於主驅動軸的角度與搬送裝置的位置沒有1對1對應，因此無法進行同步。(2) Further, when the main drive shaft is reversed at the same time in the middle of the operation, since the angle of the main drive shaft does not correspond to the position of the transport device, synchronization cannot be performed.
(3)此外，在衝壓加工模具接觸工件的瞬間、或以衝切加工衝切工件的瞬間等負載驟變的時間點，主驅動軸的旋轉會不穩定，而在上述習知的控制方法中，由於搬送裝置欲同步於不穩定之曲柄軸的旋轉而動作，因此，有搬送裝置的動作亦不穩定而使把持的工件掉落、或搬送裝置的馬達轉矩瞬間變得異常過大而致使保護裝置發生動作之問題。(3) In addition, the rotation of the main drive shaft may be unstable at the time when the press working die contacts the workpiece or when the load is suddenly changed by the punching process, and the rotation of the main drive shaft is unstable, and in the above-described conventional control method Since the conveying device is to be operated in synchronization with the rotation of the unstable crankshaft, the operation of the conveying device is also unstable, and the workpiece to be gripped is dropped, or the motor torque of the conveying device is abnormally excessively large to cause protection. The problem with the device's action.
(4)為了使衝壓機械的生產性提升，最好係使搬送裝置接近至不與模具衝突的臨界範圍而動作，藉此謀求衝壓機械的成形動作與搬送裝置的搬送動作儘可能不間斷地進行。為此，必須一邊檢查模具與搬送裝置的干涉，一邊使衝壓機械的運動曲線(motion curve)與搬送裝置的運動曲線最佳化，但在習知技術中，由於搬送裝置的運動曲線係依存於衝壓機械的運動曲線，因此無法將衝壓機械的運動與搬送裝置的運動獨立地變更，運動曲線的最佳化係非常困難。(4) In order to improve the productivity of the press machine, it is preferable to operate the transfer device close to a critical range that does not collide with the mold, thereby achieving the uninterrupted operation of the press operation of the press machine and the transfer operation of the transfer device as much as possible. . Therefore, it is necessary to optimize the motion curve of the press machine and the motion profile of the transport device while checking the interference between the mold and the transport device. However, in the prior art, the motion curve of the transport device depends on the motion curve. Since the motion curve of the press machine is not changed independently of the movement of the press machine and the movement of the transport device, it is very difficult to optimize the motion profile.
(5)如螺旋式壓機不具有主驅動軸之構成的伺服壓機亦可能存在，但由於不具有主驅動軸，因此無法以主驅動軸的旋轉為主(master)使搬送裝置同步於該旋轉而動作，或是只能夠間歇地進行壓機的動作與搬送裝置的動作的連動。(5) If a screw press does not have a configuration of a main drive shaft, a servo press may exist. However, since the main drive shaft is not provided, the transfer device cannot be synchronized with the main drive shaft. The operation is performed by rotation, or only the operation of the press and the operation of the conveying device can be intermittently performed.
本發明乃為了解決上述種種問題而研創者，亦即，本發明的目的在於提供一種在附加有將工件搬入．搬出伺服壓機裝置的搬送裝置時，能夠不受到伺服壓機裝置的動作位置及動作速度的影響地使搬送裝置同步於伺服壓機裝置而避免其些的衝突(干涉)之伺服壓機設備及其控制方法。The present invention has been made in order to solve the above problems, that is, the object of the present invention is to provide an object for carrying in a workpiece. When the transport device of the servo press device is removed, the servo press device that can prevent the collision (interference) of the transfer device from being synchronized with the servo press device without being affected by the operating position and the operating speed of the servo press device Its control method.
依據本發明，乃提供一種伺服壓機設備，係具備以伺服馬達驅動滑件的伺服壓機裝置、將工件搬入及/或搬出該伺服壓機裝置的搬送裝置、以及控制前述伺服壓機裝置與搬送裝置的控制裝置；該控制裝置係具有：主信號產生器，係依照前述伺服壓機裝置與搬送裝置的期望運轉狀態，產生依時變化的主信號；伺服壓機控制裝置，係同步於前述主信號值的變化而將伺服壓機裝置的滑件位置的指令值單義性地輸出；以及搬送控制裝置，係同步於前述主信號值的變化而將搬送裝置的動作位置的指令值單義性地輸出。According to the present invention, there is provided a servo press apparatus including a servo press device that drives a slider by a servo motor, a transfer device that carries a workpiece into and/or out of the servo press device, and controls the servo press device and a control device for the transport device; the control device includes a main signal generator that generates a main signal that changes with time according to a desired operational state of the servo press device and the transport device; and the servo press control device synchronizes with the aforementioned The command value of the slider position of the servo press device is output unambiguously in response to a change in the main signal value; and the transport control device aligns the command value of the operating position of the transport device in synchronization with the change in the main signal value. Sexually output.
依據本發明的較佳實施形態，前述伺服壓機控制裝置係具備有提供對應於主信號值之滑件位置的運動曲線，控制使滑件依同步於主信號值的變化而與該變化對應之位置指令值移動；前述搬送控制裝置係備有提供對應於主信號值之搬送裝置的動作位置的運動曲線，控制使搬送裝置移動至同步於主信號值的變化而與該變化對應之動作位置。According to a preferred embodiment of the present invention, the servo press control device is provided with a motion profile for providing a position of the slider corresponding to the main signal value, and the control causes the slider to correspond to the change in synchronization with the change of the main signal value. The position command value is moved. The transport control device is provided with a motion profile for providing an operation position of the transport device corresponding to the main signal value, and controls the transport device to move to an operation position corresponding to the change in synchronization with the change in the main signal value.
此外，前述搬送控制裝置的運動曲線係由按搬送裝置的每一獨立之動作軸提供該軸的位置之獨立之運動曲線所構成，分別同步於主信號值的變化而變化。Further, the motion profile of the transport control device is constituted by an independent motion profile that provides the position of the axis for each independent operating axis of the transport device, and changes in synchronization with changes in the main signal value.
此外，前述搬送控制裝置的運動曲線係由提供搬送裝置的進給位置之進給運動曲線、與提供搬送裝置的升降位置之升降運動曲線所構成，分別同步於主信號值的變化而變化。Further, the motion profile of the transport control device is constituted by a feed motion curve that provides a feed position of the transport device and a lift motion curve that provides a lift position of the transport device, and changes in synchronization with changes in the main signal value.
此外，依據本發明，乃提供一種伺服壓機設備的控制方法，係具備以伺服馬達驅動滑件的伺服壓機裝置、與將工件搬入及/或搬出該伺服壓機裝置的搬送裝置之伺服壓機設備的控制方法，該伺服壓機設備的控制方法係包含：主信號產生步驟，依照前述伺服壓機裝置與搬送裝置的期望運轉狀態，產生依時變化的主信號；伺服壓機控制步驟，同步於前述主信號值的變化而將伺服壓機裝置的滑件位置的指令值單義性地輸出；以及搬送控制步驟，同步於前述主信號值的變化而將搬送裝置的動作位置的指令值單義性地輸出。Further, according to the present invention, there is provided a method of controlling a servo press apparatus, comprising: a servo press device that drives a slider by a servo motor; and a servo pressure of a transfer device that carries a workpiece and/or carries the workpiece from the servo press device The control method of the machine device, the control method of the servo press device includes: a main signal generating step, generating a main signal that changes with time according to a desired operating state of the servo press device and the conveying device; and a servo press control step, Synchronizing the command value of the slider position of the servo press device in a random manner in synchronization with the change in the main signal value; and the transport control step, synchronizing the command value of the operating position of the transport device in synchronization with the change in the main signal value Output unambiguously.
依據本發明的較佳實施形態，前述伺服壓機控制步驟係記憶有提供對應於主信號值之滑件位置的運動曲線，控制使滑件依同步於主信號值的變化而與該變化對應之位置指令值移動；前述搬送控制步驟係記憶有提供對應於主信號值之搬送裝置的動作位置的運動曲線，控制使搬送裝置移動至同步於主信號值的變化而與該變化對應之動作位置。According to a preferred embodiment of the present invention, the servo press control step stores a motion profile for providing a position of the slider corresponding to the main signal value, and the control causes the slider to correspond to the change in synchronization with a change in the value of the main signal. The position command value is moved; the transport control step stores a motion profile for providing an operation position of the transport device corresponding to the main signal value, and controls the transport device to move to an operation position corresponding to the change in synchronization with the change in the main signal value.
此外，前述搬送控制步驟的運動曲線係由按搬送裝置的每一獨立之動作軸提供該軸的位置之獨立之運動曲線所構成，而分別同步於主信號值的變化而變化。Further, the motion profile of the transport control step is constituted by an independent motion profile that provides the position of the axis for each independent motion axis of the transport device, and changes in synchronization with changes in the main signal value.
此外，前述搬送控制步驟的運動曲線係由提供搬送裝置的進給位置之進給運動曲線、與提供搬送裝置的升降位置之升降運動曲線所構成，而分別同步於主信號值的變化而變化。Further, the motion profile of the transport control step is constituted by a feed motion curve that provides a feed position of the transport device and a lift motion curve that provides a lift position of the transport device, and changes in synchronization with changes in the main signal value.
依據本發明的裝置及方法，由於伺服壓機裝置與搬送裝置雙方係依照伺服壓機裝置與搬送裝置的期望運轉狀態而同步於依時變化的主信號，所以能夠透過主信號間接地使搬送裝置與伺服壓機裝置同步。According to the apparatus and method of the present invention, both the servo press device and the transport device are synchronized with the main signal that changes with time in accordance with the desired operational state of the servo press device and the transport device, so that the transport device can be indirectly transmitted through the main signal. Synchronized with the servo press unit.
此外，在變更伺服壓機裝置的滑件運動時係改變關聯對應滑件位置之運動曲線即可，由此，便不會影響搬送裝置的運動曲線。In addition, when the movement of the slider of the servo press device is changed, the motion curve associated with the position of the corresponding slider is changed, thereby preventing the movement curve of the conveying device from being affected.
同樣地，在改變搬送裝置的運動時係改變關聯對應搬送裝置的動作位置之運動曲線即可，由此，便不會影響伺服壓機裝置的運動曲線。Similarly, when the movement of the conveying device is changed, the movement curve associated with the operating position of the corresponding conveying device can be changed, thereby preventing the movement curve of the servo pressing device from being affected.
因此，能夠分別獨立地將伺服壓機裝置與搬送裝置雙方進行調整．最佳化。此外，亦能夠設定如含有反轉的運動曲線。Therefore, it is possible to independently adjust both the servo press device and the transfer device. optimization. In addition, it is also possible to set a motion profile such as containing an inversion.
另外由於能夠由電子手段產生主信號，所以信號值不會不穩定，同步於該信號值而動作之衝壓機械．搬送裝置的動作亦不會不穩定。In addition, since the main signal can be generated by the electronic means, the signal value is not unstable, and the punching machine is operated in synchronization with the signal value. The operation of the transport device is not unstable.
即使為如螺旋式壓機不具有主驅動軸的構成之伺服壓機時，仍能夠使壓機的動作與搬送裝置的動作時時刻刻連動。Even in the case of a servo press having a configuration in which the screw press does not have the main drive shaft, the operation of the press and the operation of the transport device can be interlocked at all times.
以下，參照圖式說明本發明的較佳實施例。還有，在各圖中，共通的部分係標註相同符號並省略重複的說明。Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the drawings, the same portions are denoted by the same reference numerals, and the description thereof will not be repeated.
第2圖係本發明的伺服壓機設備的整體構成圖。在此圖中，本發明的伺服壓機設備係具備伺服壓機裝置10、搬入側搬送裝置20、搬出側搬送裝置30、及控制裝置40。Fig. 2 is a view showing the overall configuration of a servo press apparatus of the present invention. In the figure, the servo press apparatus of the present invention includes a servo press device 10, a carry-in side transfer device 20, a carry-out side transfer device 30, and a control device 40.
伺服壓機裝置10為以伺服馬達11驅動滑件14之壓機裝置。動力傳達機構13的形式可為曲柄軸式壓機、肘節式壓機、無曲柄軸式壓機、連桿式壓機、螺旋式壓機等公知的機械式壓機中的任一者，而只要為以伺服馬達11透過動力傳達機構13驅動滑件14，亦可為其他形式。The servo press device 10 is a press device that drives the slider 14 with the servo motor 11. The form of the power transmission mechanism 13 may be any one of a known mechanical press such as a crankshaft press, a toggle press, a crankless press, a link press, or a screw press. Alternatively, the slider 14 may be driven by the servo motor 11 through the power transmission mechanism 13.
搬入側搬送裝置20為將工件搬入伺服壓機裝置10之裝置，搬出側搬送裝置30為將工件從伺服壓機裝置10搬出之裝置。搬入側搬送裝置20與搬出側搬送裝置30係具有工件搬入．搬出所需要的動作自由度。例如，搬入側搬送裝置20與搬出側搬送裝置30的任一者皆能夠為具有使工件沿水平方向移動的進給(feed motion)軸與使工件沿垂直方向移動的升降(lift motion)軸之構成。The carry-in side transfer device 20 is a device that carries a workpiece into the servo press device 10, and the carry-out side transfer device 30 is a device that carries the workpiece out of the servo press device 10. The carry-in side transfer device 20 and the carry-out side transfer device 30 have workpieces carried in. The degree of freedom of movement required to move out. For example, any of the carry-in side transfer device 20 and the carry-out side transfer device 30 can have a feed motion axis that moves the workpiece in the horizontal direction and a lift motion axis that moves the workpiece in the vertical direction. Composition.
搬入側搬送裝置．搬出側搬送裝置的構成並非限定於以上的說明，亦可為只有搬入側搬送裝置20與搬出側搬送裝置30其中之一之構成(搬出或搬入動作係以手動進行)、或以一台具有搬入側搬送裝置20與搬出側搬送裝置30雙方的功能之搬入搬出裝置。此外，搬入側搬送裝置20、搬出側搬送裝置30的形式可為任意之形式，亦可為以不同的機構進行使工件沿水平方向移動的進給動作(feed)與使工件沿垂直方向移動的升降動作(lift)之裝置，亦可為利用機械手臂等以同機構進行兩者之裝置。亦可為具有夾鉗等除了進給與昇降之外的動作的自由度之搬入搬出裝置。Move in the side conveyor. The configuration of the carry-out-side transport device is not limited to the above description, and may be one of only the carry-in transport device 20 and the carry-out transport device 30 (the carry-out or carry-in operation is performed manually), or one of them may be carried in. A loading/unloading device that functions as both the side conveying device 20 and the carry-out side conveying device 30. Further, the loading-side conveying device 20 and the unloading-side conveying device 30 may be in any form, or may be a feeding operation for moving the workpiece in the horizontal direction and moving the workpiece in the vertical direction by different mechanisms. The lifting device may be a device that performs both of the same mechanism using a robot arm or the like. It may be a loading/unloading device having a degree of freedom in addition to feeding and lifting, such as a clamp.
以下，在本說明書中，在未特別區分搬入側搬送裝置20及/或搬出側搬送裝置30的情況，以「搬送裝置」稱之。In the present specification, the "transporting device" is referred to when the loading-side conveying device 20 and/or the unloading-side conveying device 30 are not particularly distinguished.
控制裝置40係控制伺服壓機裝置10與搬送裝置(搬入側搬送裝置20及/或搬出側搬送裝置30)之控制裝置。The control device 40 is a control device that controls the servo press device 10 and the transport device (the carry-in transport device 20 and/or the carry-out transport device 30).
控制裝置40係具有主(master)信號產生器42、伺服壓機控制裝置44、及搬送控制裝置46。控制裝置40可為單獨的控制裝置(例如NC控制裝置)，亦可為由1台上位控制裝置與複數台下位控制裝置構成之複合控制裝置。The control device 40 includes a master signal generator 42, a servo press control device 44, and a transport control device 46. The control device 40 may be a separate control device (for example, an NC control device), or may be a composite control device composed of one upper control device and a plurality of lower control devices.
主信號產生器42係依照伺服壓機裝置10與搬送裝置20、30的期望運轉狀態，使在值A與B之間依時變化之值M的主信號1產生。The main signal generator 42 generates the main signal 1 of the value M which changes between the values A and B in accordance with the desired operational state of the servo press device 10 and the transport devices 20, 30.
此處，所謂「依照期望運轉狀態」係指「依照著欲如此運轉的希求(希望正轉、希望反轉、希望快速移動、希望慢速移動)」。Here, "in accordance with the desired operational state" means "in accordance with the desire to operate like this (hopefully forward, hope to reverse, hope to move quickly, hope to move slowly)."
依照期望運轉狀態而變化者為主信號的時間模式，運動曲線並不依期望運轉狀態而改變。The time pattern in which the changer is the main signal according to the desired operating state, the motion profile does not change depending on the desired operating state.
亦即在本發明中，係以該運動曲線定義主信號與伺服壓機，或者，主信號與搬送裝置的同步關係，並依照稱為「期望運轉狀態」之狀態來切換主信號的時間變化模式。That is, in the present invention, the motion signal is used to define the synchronization relationship between the main signal and the servo press, or the main signal and the transport device, and the time change pattern of the main signal is switched in accordance with a state called "desired operation state". .
伺服壓機控制裝置44係具備有提供對應於主信號值M之滑件位置的運動曲線(待後述)，同步於主信號值M的變化而將伺服壓機裝置10的滑件位置的指令值單義性地輸出，控制使滑件依同步於主信號值M的變化而與該變化對應之位置指令值移動。The servo press control device 44 is provided with a motion profile (to be described later) for providing a position of the slider corresponding to the main signal value M, and the command value of the slider position of the servo press device 10 is synchronized with the change of the main signal value M. The output is univocally controlled, and the slider moves the position command value corresponding to the change in synchronization with the change of the main signal value M.
搬送控制裝置46在此例中係由搬入側搬送控制裝置46A與搬出側搬送控制裝置46B所構成，而分別具備有提供對應於主信號值M之搬送裝置20、30的動作位置的運動曲線(待後述)，同步於主信號值M的變化而將搬送裝置20、30的動作位置的指令值單義性地輸出，控制使搬送裝置移動至同步於主信號值M的變化而與該變化對應之動作位置。In this example, the transport control device 46 is configured by the carry-in transport control device 46A and the carry-out transport control device 46B, and is provided with a motion profile for providing the operating positions of the transport devices 20 and 30 corresponding to the main signal value M ( As will be described later, the command value of the operating position of the transporting devices 20 and 30 is output unambiguously in synchronization with the change in the main signal value M, and the transport device is controlled to move to a change synchronized with the main signal value M to correspond to the change. The position of the action.
搬送控制裝置46(46A、46B)的運動曲線係由提供搬送裝置20、30的進給位置之進給運動曲線與提供搬送裝置的升降位置之升降運動曲線所構成，而分別同步於主信號值M的變化而變化。The motion profile of the transport control device 46 (46A, 46B) is composed of a feed motion curve that provides a feed position of the transport devices 20, 30 and a lift motion curve that provides a lift position of the transport device, and is synchronized with the main signal value, respectively. The change of M changes.
第3圖係本發明的伺服壓機設備的控制方法的整體流程圖。Fig. 3 is an overall flow chart showing a control method of the servo press apparatus of the present invention.
本發明的控制方法為具備上述伺服壓機裝置10與搬送裝置20、30之伺服壓機設備的控制方法。The control method of the present invention is a control method of the servo press device including the servo press device 10 and the transfer devices 20 and 30.
如該圖所示，本發明的控制方法係具有主信號產生步驟S1、伺服壓機控制步驟S2、及搬送控制步驟S3。As shown in the figure, the control method of the present invention includes a main signal generating step S1, a servo press control step S2, and a transport control step S3.
在主信號產生步驟S1中，係依照伺服壓機裝置10與搬送裝置20、30的期望運轉狀態，使在值A與B之間依時變化之值M的主信號1產生。In the main signal generating step S1, the main signal 1 of the value M which changes between the values A and B in time is generated in accordance with the desired operational state of the servo press device 10 and the transport devices 20, 30.
在伺服壓機控制步驟S2中，係同步於主信號值M的變化而將伺服壓機裝置10的滑件位置的指令值單義性地輸出。在伺服壓機控制步驟S2係記憶有提供對應於主信號值M之滑件位置的運動曲線，控制使滑件依同步於主信號值M的變化而與該變化對應之位置指令值移動。In the servo press control step S2, the command value of the slider position of the servo press device 10 is output unambiguously in synchronization with the change in the main signal value M. In the servo press control step S2, a motion profile for providing a slider position corresponding to the main signal value M is stored, and the control moves the slider to a position command value corresponding to the change in synchronization with a change in the main signal value M.
在搬送控制步驟S3中，係同步於主信號值M的變化而將搬送裝置20、30的動作位置的指令值單義性地輸出。在搬送控制步驟S3係記憶有提供對應於主信號值M之搬送裝置的動作位置的運動曲線，控制使搬送裝置移動至同步於主信號值M的變化而與該變化對應之動作位置。In the conveyance control step S3, the command value of the operation position of the conveyance devices 20 and 30 is output unambiguously in synchronization with the change of the main signal value M. In the transport control step S3, a motion profile for providing an operation position of the transport device corresponding to the main signal value M is stored, and the transport device is controlled to move to an operation position corresponding to the change in synchronization with the change of the main signal value M.
搬送控制步驟S3的運動曲線係由針對搬送裝置20、30的各動作軸之運動曲線所構成。例如，若搬送裝置20、30為具有進給軸與昇降軸之構成，則搬送控制步驟S3的運動曲線係由提供搬送裝置20、30的進給位置之進給運動曲線與提供搬送裝置的升降位置之升降運動曲線所構成，分別同步於主信號值M的變化而變化。The motion profile of the transport control step S3 is constituted by the motion curves of the respective operating axes of the transporting devices 20 and 30. For example, when the conveying devices 20 and 30 have a configuration including a feed axis and a lifting shaft, the movement curve of the conveyance control step S3 is a feed motion curve that provides a feed position of the conveyance devices 20 and 30 and a lift of the conveyance device. The positional lifting motion curve is formed to be changed in synchronization with the change of the main signal value M.
第4圖係顯示將搬送裝置與伺服壓機裝置同步，以週期(cycle time)T正轉運轉時的1週期份的關係之圖。在此圖中，(A)顯示週期T內的經過時間t與主信號的關係，(B)顯示主信號與滑件位置的關係，(C)(D)顯示主信號與搬入側搬送裝置20的進給位置及昇降位置的關係，(E)(F)顯示主信號與搬出側搬送裝置30的進給位置及昇降位置的關係。Fig. 4 is a view showing the relationship between one cycle of the transfer device and the servo press device in the cycle time T forward rotation operation. In the figure, (A) shows the relationship between the elapsed time t in the period T and the main signal, (B) shows the relationship between the main signal and the slider position, and (C) (D) shows the main signal and the carry-in side conveying device 20. (E) (F) shows the relationship between the main signal and the feeding position and the elevating position of the carry-out side conveying device 30 in the relationship between the feeding position and the lifting position.
在主信號產生步驟S1產生的主信號，在此例中，係於每一定的週期T，從初始值A(在本例中為0)線性增加至最終值B(例如為1)。亦即，週期T內的經過時間t的主信號1的值M能夠以M＝(B－A)×t/T＋A求得。The main signal generated in the main signal generating step S1, in this example, is linearly increased from the initial value A (in this example, 0) to the final value B (for example, 1) every predetermined period T. That is, the value M of the main signal 1 of the elapsed time t in the period T can be obtained by M = (B - A) × t / T + A.
主信號1係每一週期T重設(reset)，且連續重複。The main signal 1 is reset every cycle T and is continuously repeated.
第4圖中的(B)為滑件的運動曲線，對應於主信號1的值M而提供滑件位置。亦即，滑件位置並非對於各每一週期T的某時間t直接決定，而是對應時間t時的主信號1的值M來決定滑件位置，係控制使滑件依同步於主信號值M的變化而與該變化對應之位置指令值移動。(B) in Fig. 4 is a motion curve of the slider, and the slider position is provided corresponding to the value M of the main signal 1. That is, the position of the slider is not directly determined for a certain time t of each period T, but the value of the main signal 1 at time t is determined to determine the position of the slider, and the control is made to synchronize the slider with the main signal value. The position command value corresponding to the change is changed by the change of M.
因此，假使週期T內的經過時間t與主信號1的關係變更的話(例如，由直線變為任意的曲線)，由於在相同時間t的主信號1的值M會變化，所以滑件位置亦與之對應而變化。Therefore, if the relationship between the elapsed time t and the main signal 1 in the period T is changed (for example, from a straight line to an arbitrary curve), since the value M of the main signal 1 at the same time t changes, the slider position is also Change with it.
第4圖中的(C)(D)為搬入側搬送裝置20的進給位置的運動曲線與升降位置的運動曲線，係控制使搬送裝置移動至同步於主信號值M的變化而與該變化對應之動作位置。(C)(D) in Fig. 4 is a motion curve of the movement curve and the elevation position of the feeding position of the loading-side conveying device 20, and controls the movement of the conveying device to be synchronized with the change of the main signal value M and the change. Corresponding action position.
相同地，第4圖中的(E)(F)為搬出側搬送裝置30的進給位置的運動曲線與升降位置的運動曲線，係控制使搬送裝置移動至同步於主信號值M的變化而與該變化對應之動作位置移動。Similarly, (E) and (F) in FIG. 4 are motion curves of the movement position and the elevation position of the feeding position of the carry-out side conveying device 30, and control the movement of the conveying device to be synchronized with the change of the main signal value M. The action position corresponding to the change moves.
搬送裝置20、30亦是，假使週期T內的經過時間t與主信號1的關係變更的話(例如，由直線變為曲線)，由於在相同時間t時的主信號1的值M會變化，所以動作位置亦與之對應而變化。In the transport apparatuses 20 and 30, if the relationship between the elapsed time t and the main signal 1 in the period T is changed (for example, a straight line is changed to a curve), the value M of the main signal 1 changes at the same time t. Therefore, the action position also changes accordingly.
第5A圖至第5D圖係顯示使搬送裝置與伺服壓機裝置同步之1週期份的關係之其他圖。Fig. 5A to Fig. 5D are other views showing the relationship of one cycle of the synchronization of the conveying device and the servo pressing device.
當希望改變伺服壓機裝置與搬送裝置的期望運轉狀態時，如第5A圖至第5D圖所示，能夠藉由使主信號相對時間變化來實現。例如，當希望使週期時間變化時，則如第5A圖所示，於每一週期使主信號的1週期的時間變化、或如第5B圖所示，使相對於時間之主信號的變化率連續變化。還有，此處，如在第4圖中的(B)至(F)設定之主信號值M與滑件位置的關係、主信號值M與搬入側搬送裝置的進給位置的關係、主信號值M與搬入側搬送裝置的升降位置的關係、主信號值M與搬出側搬送裝置的進給位置的關係、主信號值M與搬出側搬送裝置的升降位置的關係不予以變更。但為了調整該些關係便可進行變更。When it is desired to change the desired operational state of the servo press device and the transport device, as shown in FIGS. 5A to 5D, it can be realized by changing the main signal with respect to time. For example, when it is desired to change the cycle time, as shown in FIG. 5A, the time of one cycle of the main signal is changed every cycle, or as shown in FIG. 5B, the rate of change of the main signal with respect to time is made. Continuous change. Here, the relationship between the main signal value M and the slider position set in (B) to (F) in Fig. 4, the relationship between the main signal value M and the feeding position of the carry-in side conveying device, and the main The relationship between the signal value M and the lifting position of the carry-in side conveying device, the relationship between the main signal value M and the feeding position of the carry-out side conveying device, and the relationship between the main signal value M and the lifting position of the carry-out side conveying device are not changed. However, changes can be made to adjust these relationships.
此外，當希望在任意的位置停止時，如第5C圖所示，將主信號的值設為定值即可，當希望將伺服壓機裝置與搬送裝置自正轉一度停止後接著再反轉時，如第5D圖所示，使相對於時間之主信號的變化方向反轉即可。還有，此處，如在第4圖中的(B)至(F)設定之主信號值M與滑件位置的關係、主信號值M與搬入側搬送裝置的進給位置的關係、主信號值M與搬入側搬送裝置的升降位置的關係、主信號值M與搬出側搬送裝置的進給位置的關係、主信號值M與搬出側搬送裝置的升降位置的關係不予以變更。但為了調整該些關係便可進行變更。In addition, when it is desired to stop at an arbitrary position, as shown in FIG. 5C, it is sufficient to set the value of the main signal to a constant value, and it is desirable to reverse the servo press device and the transfer device once after the forward rotation. At this time, as shown in FIG. 5D, the direction of change of the main signal with respect to time may be reversed. Here, the relationship between the main signal value M and the slider position set in (B) to (F) in Fig. 4, the relationship between the main signal value M and the feeding position of the carry-in side conveying device, and the main The relationship between the signal value M and the lifting position of the carry-in side conveying device, the relationship between the main signal value M and the feeding position of the carry-out side conveying device, and the relationship between the main signal value M and the lifting position of the carry-out side conveying device are not changed. However, changes can be made to adjust these relationships.
第6圖係本發明的伺服壓機設備的具體實施例。Figure 6 is a specific embodiment of the servo press apparatus of the present invention.
在第6圖中，上述伺服壓機裝置10係相當於衝壓機械100。衝壓機械100係構成如下。In Fig. 6, the servo press device 10 corresponds to the press machine 100. The press machine 100 is configured as follows.
利用滑件驅動機構102將主馬達101的旋轉轉換成直線運動，使滑件103上下移動。於滑件103係裝設有上模具104，與滑件103一同上下移動。The rotation of the main motor 101 is converted into a linear motion by the slider driving mechanism 102, and the slider 103 is moved up and down. The upper mold 104 is attached to the slider 103, and moves up and down together with the slider 103.
下模具105係相對向於上模具104而裝設於工作台(bolster)106。加於上模具104的荷重係透過滑件103與滑件驅動機構102而由框架107的上部所支撐，加於下模具105的荷重係透過工作台106而由框架107的下部所支撐。The lower mold 105 is attached to the bolster 106 with respect to the upper mold 104. The load applied to the upper mold 104 is supported by the upper portion of the frame 107 through the slider 103 and the slider drive mechanism 102, and the load applied to the lower mold 105 is transmitted through the table 106 and supported by the lower portion of the frame 107.
為衝壓成型的對象之工件108係***在上模具104與下模具105之間，當滑件103下降而上模具104與工件108與下模具105接觸時，便自上模具104及下模具105對工件108產生衝壓成型力。The workpiece 108 for the stamped object is inserted between the upper mold 104 and the lower mold 105. When the slider 103 is lowered and the upper mold 104 is in contact with the lower mold 105, the upper mold 104 and the lower mold 105 are paired. The workpiece 108 produces a stamping force.
關於滑件驅動機構102，有曲柄軸式、無曲柄軸式、肘節式、連桿式、螺旋式等方式。關於主馬達101，能夠使用感應馬達、同步馬達、直流馬達等，而在本發明中係使用具優異控制性的伺服馬達。The slider drive mechanism 102 has a crankshaft type, a crankless shaft type, a toggle type, a link type, a screw type, and the like. As the main motor 101, an induction motor, a synchronous motor, a direct current motor or the like can be used, and in the present invention, a servo motor having excellent controllability is used.
為了檢測滑件103的位置，設有檢測主馬達101的旋轉角之編碼器(encoder)121。In order to detect the position of the slider 103, an encoder 121 for detecting the rotation angle of the main motor 101 is provided.
主馬達控制器122係根據將編碼器121檢測出之主馬達101的旋轉角根據滑件驅動機構102的尺寸所得之滑件103的現在位置、與滑件位置指令產生器141所提供之滑件位置指令值，產生對主馬達101之轉矩指令值。The main motor controller 122 is based on the current position of the slider 103 obtained from the rotation angle of the main motor 101 detected by the encoder 121 according to the size of the slider driving mechanism 102, and the slider provided by the slider position command generator 141. The position command value generates a torque command value for the main motor 101.
主馬達放大器123係使供給至主馬達101的電流．電壓．電力變化以使主馬達101依照轉矩指令值產生轉矩。The main motor amplifier 123 is a current supplied to the main motor 101. Voltage. The power is changed to cause the main motor 101 to generate torque in accordance with the torque command value.
藉由以上的構成，進行當滑件位置指令產生器141時時刻刻提供滑件位置指令值時，滑件103的位置即隨著該滑件位置指令值而時時刻刻變化之閉環(closed loop)控制。With the above configuration, when the slider position command generator 141 is supplied with the slider position command value at all times, the position of the slider 103 is a closed loop that changes momentarily with the slider position command value (closed loop) )control.
第2圖的搬入側搬送裝置20係相當於第6圖的搬入側搬送裝置200。用以將工件搬入衝壓機械100的搬入側搬送裝置200係構成如下。用以把持工件的搬入側搬送裝置工件把持具201係由搬入側搬送裝置活動台(carriage)202所支撐。The carry-in transport device 20 of Fig. 2 corresponds to the carry-in transport device 200 of Fig. 6 . The carry-in side conveyance device 200 for carrying the workpiece into the press machine 100 is configured as follows. The loading-side conveying device workpiece gripping tool 201 for holding the workpiece is supported by the loading-side conveying device movable table 202.
用以將搬入側搬送裝置活動台202往進給方向(圖中的左右方向)移動的搬入側搬送裝置進給機構203係藉由搬入側搬送裝置進給馬達204驅動，用以將搬入側搬送裝置活動台202往升降方向(圖中的上下方向)移動的搬入側搬送裝置升降機構205係藉由搬入側搬送裝置升降馬達206所驅動。The loading-side conveying device feeding mechanism 203 for moving the loading-side conveying device movable table 202 in the feeding direction (the horizontal direction in the drawing) is driven by the loading-side conveying device feed motor 204 for conveying the loading-side side. The carry-in-side conveyance device elevating mechanism 205 that moves the device movable table 202 in the lifting direction (the vertical direction in the drawing) is driven by the carry-in-side conveyance device lifting motor 206.
為了檢測搬入側搬送裝置活動台202的進給方向(圖中的左右方向)的位置，設有檢測搬入側搬送裝置進給馬達204的旋轉角之搬入側搬送裝置進給編碼器221。In order to detect the position in the feeding direction (the horizontal direction in the drawing) of the loading-side conveying device movable table 202, the loading-side conveying device feeding encoder 221 that detects the rotation angle of the feeding-side conveying device feed motor 204 is provided.
搬入側搬送裝置進給馬達控制器222係根據將搬入側搬送裝置進給編碼器221檢測出之搬入測搬送裝置進給馬達204的旋轉角根據搬入側搬送裝置進給機構203的尺寸所得之搬入側搬送裝置活動台202的進給方向現在位置、與搬入側搬送裝置位置指令產生器241所提供之搬入側搬送裝置進給位置指令值，產生對搬入側搬送裝置進給馬達204之轉矩指令值。The carry-in-side conveyance device feed motor controller 222 is moved in accordance with the size of the carry-in side conveyance device feed mechanism 203 based on the rotation angle of the feed conveyance device feed motor 204 detected by the carry-in conveyance device feed encoder 221. The current position of the side conveyance device movable table 202 and the feed position command value of the carry-in side conveyance device provided by the carry-in conveyance device position command generator 241 generate a torque command to the feed-side transfer device feed motor 204. value.
搬入側搬送裝置進給馬達放大器223係使供給至搬入側搬送裝置進給馬達204的電流．電壓．電力變化以使搬入側搬送裝置進給馬達204依照轉矩指令值產生轉矩。The carry-in side conveyance device feed motor amplifier 223 is a current supplied to the carry-in side conveyance device feed motor 204. Voltage. The electric power is changed so that the carry-in-side conveying device feed motor 204 generates torque in accordance with the torque command value.
針對升降方向(圖中的上下方向)，亦設有具有相同構成與作用之搬入側搬送裝置升降編碼器224、搬入側搬送裝置升降馬達控制器225、搬入側搬送裝置升降馬達放大器226。In the lifting direction (the vertical direction in the drawing), the carrying-side conveying device lifting and lowering encoder 224 having the same configuration and function, the loading-side conveying device lifting motor controller 225, and the loading-side conveying device lifting motor amplifier 226 are also provided.
藉由以上的構成，進行當搬入側搬送裝置位置指令產生器241時時刻刻提供搬入側搬送裝置位置指令值(在本例中，為進給方向與升降方向的位置指令值)時，搬入側搬送裝置活動台202的位置(在本例中，為進給方向與升降方向的位置)即隨著該搬入側搬送裝置位置指令值而時時刻刻變化之閉環控制。According to the above configuration, when the carry-in side conveyance device position command value 241 is supplied at the time of the carry-in side conveyance device position command generator 241 (in this example, the position command value in the feed direction and the lift direction), the carry-in side is performed. The position of the conveyance device movable table 202 (in this example, the position in the feed direction and the lift direction) is a closed loop control that changes moment by moment with the position information of the carry-in side conveyance device.
搬入側搬送裝置工件把持具201係由於被保持為與搬入側搬送裝置活動台202保持一定的位置關係，所以搬入側搬送裝置工件把持具201的位置亦為追從搬入側搬送裝置位置指令產生器241提供的搬入側搬送裝置位置指令值。The loading-side conveyance device workpiece gripper 201 is held in a fixed positional relationship with the loading-side conveyance device movable table 202. Therefore, the position of the loading-side conveyance device workpiece holder 201 is also the position-receiving-side conveyance device position command generator. The position-input value of the carry-in side conveyance device provided by 241.
關於進給機構與升降機構，有以滾珠螺桿(ball screw)將馬達的旋轉變為直線運動之方法、或以齒輪減速，藉由齒條齒輪(pinion rack)方式將馬達的旋轉變為直線運動之方法等。Regarding the feed mechanism and the elevating mechanism, there is a method of changing the rotation of the motor into a linear motion by a ball screw, or decelerating with a gear, and the rotation of the motor is changed into a linear motion by a pinion rack. Method and so on.
第2圖的搬出側搬送裝置30係相當於第6圖的搬出側搬送裝置300。用以將工件從衝壓機械100搬出的搬出側搬送裝置300亦具有與搬入側搬送裝置200相同的構成。還有，在第6圖中，相對應的構成要素係標註相對應的編號。The carry-out side transfer device 30 of Fig. 2 corresponds to the carry-out side transfer device 300 of Fig. 6 . The carry-out side transfer device 300 for carrying out the workpiece from the press machine 100 also has the same configuration as the carry-in side transfer device 200. Further, in Fig. 6, the corresponding constituent elements are denoted by corresponding numbers.
在衝壓機械100、搬入側搬送裝置200、搬出側搬送裝置300中任一者，關於編碼器，皆能夠使用光學式編碼器或解角器(resolver)。而馬達驅動放大器，當使用直流馬達時係使用閘流體黎歐納(Thyristor Leonard)系統或使用有IGBT之截波器(chopper)方式等，當使用交流馬達時，使用使用有功率型MOSFET或IGBT之PWM方式的換流器(inverter)等。關於馬達控制器的控制方法，使用PI．PID．IPD等的回饋(feed back)控制或前饋(feed forward)控制的組合等。In the press machine 100, the carry-in side transfer device 200, and the carry-out side transfer device 300, an optical encoder or a resolver can be used for the encoder. The motor drive amplifier uses a thyristor Thyristor Leonard system or a chopper with an IGBT when using a DC motor. When using an AC motor, use a power MOSFET or IGBT. PWM inverters, etc. Regarding the control method of the motor controller, use PI. PID. A combination of feed back control or feed forward control of IPD or the like.
於滑件位置指令產生器141、搬入側搬送裝置位置指令產生器241、搬出側搬送裝置位置指令產生器341係自主信號產生器42分配有主信號。關於主信號產生器，能夠使用以電子電路實現之計數器或定序器(sequencer)、或以電腦程式實現之計數器。The slider position command generator 141, the carry-in side conveyance device position command generator 241, and the carry-out side conveyance device position command generator 341 are assigned main signals by the autonomous signal generator 42. Regarding the main signal generator, a counter implemented by an electronic circuit or a sequencer, or a counter implemented by a computer program can be used.
關於工件把持具，使用裝設有將工件真空吸取的吸盤之橫桿(cross bar)、或將工件夾取之手指等。As the workpiece holder, a cross bar equipped with a suction cup for vacuuming a workpiece, a finger for gripping a workpiece, or the like is used.
第7圖係顯示使搬送裝置與伺服壓機裝置同步之2週期份的關係之圖。以下，使用第6圖與第7圖說明本發明的裝置的動作例。Fig. 7 is a view showing the relationship between two stages of synchronization of the conveying device and the servo pressing device. Hereinafter, an operation example of the apparatus of the present invention will be described using Figs. 6 and 7.
主信號產生器42係產生相對時間單調地變化之主信號1。滑件位置指令產生器141、搬入側搬送裝置位置指令產生器241、搬出側搬送裝置位置指令產生器341係分別保持有表示對主信號1之滑件位置、搬入側搬送裝置進給/升降位置、搬出側搬送裝置進給/升降位置的對應關係之運動曲線，當主信號輸入時，分別輸出滑件位置、搬入側搬送裝置進給/升降位置、搬出側搬送裝置進給/升降位置。The main signal generator 42 produces a main signal 1 that varies monotonically with respect to time. The slider position command generator 141, the carry-in side conveyance device position command generator 241, and the carry-out side conveyance device position command generator 341 hold the slider position indicating the main signal 1 and the carry-in/feed position of the carry-in conveyance device, respectively. When the main signal is input, the movement curve of the correspondence between the feed/elevation position of the carry-out conveyance device is outputted, respectively, the slide position, the carry-in conveyance device feed/elevation position, and the carry-out conveyance device feed/elevation position.
輸出之滑件位置、搬入側搬送裝置進給/升降位置、搬出側搬送裝置進給/升降位置係分別成為給主馬達控制器122、搬入側搬送裝置進給馬達控制器222/搬入側搬送裝置升降馬達控制器225、搬出側搬送裝置進給馬達控制器322/搬出側搬送裝置升降馬達控制器325的位置指令，藉由上述的機制，控制滑件103的位置、搬入側搬送裝置活動台202的進給/升降位置、搬出側搬送裝置活動台302的進給/升降位置追從位置指令值，滑件103、與搬入側搬送裝置活動台202保持有一定的位置關係之搬入側搬送裝置工件把持具201、與搬出側搬送裝置活動台302保持有一定的位置關係之搬出側搬送裝置工件把持具301便同步於主信號而依運動曲線所規定之位置關係動作。The output slider position, the carry-in side conveyance device feed/elevation position, and the carry-out side conveyance device feed/elevation position are respectively supplied to the main motor controller 122, the carry-in side conveyance device feed motor controller 222, and the carry-in side conveyance device. The position command of the lift motor controller 225, the carry-out side conveyance device feed motor controller 322, and the carry-out side conveyance device lift motor controller 325 controls the position of the slider 103 and the carry-in side transfer device movable table 202 by the above-described mechanism. The feed/elevation position, the feed/elevation position following position command value of the carry-out side transfer device movable table 302, the slider 103, and the carry-in side transfer device workpiece having a fixed positional relationship with the carry-in side transfer device movable table 202 The carry-out-side conveyance device workpiece gripper 301 holding the holder 201 and the carry-out side transfer device movable table 302 in a fixed positional relationship operates in synchronization with the main signal and in accordance with the positional relationship defined by the motion profile.
關於保持運動曲線之方法，有利用表(table)記憶以適當間隔取樣而得之值且利用多項式或仿樣內插(spline Interpolation)插補其間之方法、以函數表現曲線整體或每一適當地分割好的區間之方法等。Regarding the method of maintaining the motion curve, there is a method of using a table memory to sample at an appropriate interval and using a polynomial or spline interpolation to interpolate the method, expressing the curve as a whole or each suitably The method of dividing the good interval, etc.
第6圖及第7圖為主信號以一定變化率變化之例，亦即顯示伺服壓機與搬送裝置以一定週期時間正轉之例，但能夠如第5A圖至第5D圖，使主信號的變化率在途中變化、或藉由使變化率為0而改變伺服壓機與搬送裝置的週期時間、或使其在途中停止、或使其逆轉。Fig. 6 and Fig. 7 show an example in which the main signal changes at a certain rate of change, that is, an example in which the servo press and the transport device are rotated forward in a certain cycle time, but the main signal can be made as shown in Figs. 5A to 5D. The rate of change is changed in the middle, or the cycle time of the servo press and the conveying device is changed by the rate of change of 0, or it is stopped or reversed on the way.
運動曲線係以在衝壓機械及搬送裝置的性能的範圍內，搬送裝置與衝壓機械不會機械性干涉之方式來決定。關於決定運動曲線之方法，有離線(offline)使用具有干涉檢查功能之3次元CAD而決定之方法、或改變運動曲線，實際使衝壓機械與搬送裝置動作看看而線上(online)決定運動曲線之方法。The motion curve is determined such that the transfer device does not mechanically interfere with the press machine within the range of the performance of the press machine and the transfer device. Regarding the method of determining the motion curve, there is a method of determining the motion of the 3-dimensional CAD having the interference check function, or changing the motion curve, and actually the punching machine and the transport device are operated to look at the line and determine the motion curve online. method.
在上述實施例中係顯示1台衝壓機械其前後有搬送裝置時的情形，而當以複數台衝壓機械及複數台搬送裝置構成生產線時，藉由將主信號輸入至複數台衝壓機械、搬送裝置，便能夠將本方式適用於生產線整體。藉由在各衝壓機械、每一搬送裝置設置獨立的滑件位置指令產生器、搬送裝置位置指令產生器，能夠讓每一台的衝壓機械、搬送裝置達到適當的工件加工特性．工件搬送距離與干涉物的迴避，而設定使相鄰接的衝壓機械與搬送裝置間的工件受授的浪費時間減少的運動曲線。In the above embodiment, when one press machine is provided with a transport device in front and rear, and when a plurality of press machines and a plurality of transfer devices are used to form a production line, the main signal is input to a plurality of press machines and transport devices. This method can be applied to the entire production line. By providing separate slider position command generators and conveyor position command generators for each press machine and each transfer device, it is possible to achieve appropriate workpiece processing characteristics for each press machine and transfer device. The workpiece transport distance and the avoidance of the interference are set, and a motion curve for reducing the wasted time for the workpiece between the adjacent press machine and the transport device is set.
藉由追加當任一衝壓機械或搬送裝置檢測到異常時將主信號的變化率變為0之功能，在異常發生時亦能夠在保有衝壓機械與搬送裝置同步的狀態下使全部的衝壓機械．搬送裝置減速．停止。By adding a function to change the rate of change of the main signal to 0 when any of the press machines or the transfer device detects an abnormality, it is possible to make all the press machines in a state in which the press machine and the transfer device are synchronized in the event of an abnormality. The conveyor is slowed down. stop.
在上述的實施例中，雖然係顯示在整個衝壓機械與搬送裝置的動作的1週期整體，衝壓機械與搬送裝置同步於主信號而動作之例，但亦能夠為只在衝壓機械與搬送裝置的干涉條件嚴峻之範圍內時，亦即只在搬送裝置將工件放置於衝壓機械內部．將工件從衝壓機械內部取出的期間，衝壓機械與搬送裝置才與主信號同步而動作，在此之外的期間，亦即在衝壓機械與搬送裝置的干涉條件寬鬆的期間，衝壓機械與搬送裝置為獨立動作之構成。In the above-described embodiment, the stamping machine and the conveying device are operated in synchronization with the main signal in the entire cycle of the entire press machine and the conveying device, but it is also possible to use only the press machine and the conveying device. When the interference condition is within the strict range, that is, the workpiece is placed inside the stamping machine only in the conveying device. While the workpiece is being taken out from the inside of the press machine, the press machine and the transfer device operate in synchronization with the main signal, and during the other period, that is, the press machine and the transfer device are loose during the interference condition between the press machine and the transfer device. It is the composition of independent actions.
在上述的實施例中，雖然係顯示將馬達的旋轉機構性地轉換為滑件的直線運動之伺服壓機，但亦能夠適用於使用線性馬達驅動滑件之伺服壓機。In the above-described embodiment, although a servo press that linearly converts the rotation of the motor into a linear motion of the slider is shown, it can be applied to a servo press that drives the slider using a linear motor.
在上述的實施例中，關於滑件的位置檢測方法，雖然係顯示利用編碼器檢測主馬達的旋轉角，並根據滑件驅動機構的尺寸而轉換為滑件的位置之例，但亦能夠為利用光學尺(optical linear scale)或磁致線性編碼器(magnetostrictive linear encoder)直接檢測之方法。In the above-described embodiment, the position detecting method for the slider is an example in which the rotation angle of the main motor is detected by the encoder and converted to the position of the slider according to the size of the slider driving mechanism. A method of directly detecting using an optical linear scale or a magnetostrictive linear encoder.
在上述的實施例中，雖然係顯示具有可獨立動作的進給與升降機構之搬送裝置，但本發明係只要能夠將工作定位的話，不論何種搬送裝置的機構皆可。能夠使用具有進給與升降與夾鉗之三次元傳送機構、或被稱為dopin(音譯)式的連桿式的裝載機(loader)、各種產業用機械手臂的機構等。在搬入側與搬出側，機構亦可不同。In the above-described embodiment, the conveying device having the feeding and elevating mechanism capable of independently operating is shown. However, the present invention is not limited to any mechanism of the conveying device as long as the work can be positioned. A three-dimensional transfer mechanism having a feed, a lift, and a clamp, a linker-type loader called a dopin, a mechanism for various industrial robots, and the like can be used. The mechanism may be different on the carry-in side and the carry-out side.
在上述的實施例中，雖然係顯示將編碼器裝設於馬達軸之例，但亦能夠使用將旋轉編碼器(rotary encoder)或線性編碼器設置於馬達所驅動之機構之側而檢測位置之方法。In the above embodiment, although the example in which the encoder is mounted on the motor shaft is shown, it is also possible to detect the position by placing a rotary encoder or a linear encoder on the side of the mechanism driven by the motor. method.
當為具有可控制位置的模墊(die cushion)裝置之衝壓機械時，能夠為使模墊裝置的控制裝置含有與實施例顯示的衝壓機械或搬送裝置的控制裝置相同的功能，使模墊同步於主信號之構成。In the case of a press machine having a die cushion device having a controllable position, the control device of the die pad device can have the same function as the control device of the press machine or the transport device shown in the embodiment, and the die pad can be synchronized. The composition of the main signal.
依據上述的本發明的裝置及方法，由於伺服壓機裝置10與搬送裝置20、30兩方係在每一定的週期，同步於從初始值至最終值單調地增加或減少之值的主信號1，所以能夠透過主信號1間接地使搬送裝置與伺服壓機裝置同步。According to the apparatus and method of the present invention described above, since the servo press device 10 and the transporting device 20, 30 are both in a fixed cycle, the main signal 1 is monotonically increased or decreased from the initial value to the final value. Therefore, the transport device can be indirectly synchronized with the servo press device through the main signal 1.
此外，在變更伺服壓機裝置10的滑件運動時係改變關聯對應滑件位置之運動曲線即可，藉此，便不會影響搬送裝置20、30的運動曲線。Further, when the slider movement of the servo press device 10 is changed, the motion curve associated with the position of the corresponding slider can be changed, whereby the motion profile of the transporting devices 20, 30 is not affected.
同樣地，在改變搬送裝置20、30的運動時係改變關聯對應搬送裝置的動作位置之運動曲線即可，藉此，便不會影響伺服壓機裝置10的運動曲線。Similarly, when the movement of the conveying devices 20 and 30 is changed, the movement curve associated with the operating position of the corresponding conveying device can be changed, whereby the movement curve of the servo pressing device 10 is not affected.
因此，能夠分別獨立地將伺服壓機裝置與搬送裝置兩方進行調整．最佳化。此外，亦能夠設定如含有反轉的運動曲線。Therefore, the servo press device and the transfer device can be independently adjusted. optimization. In addition, it is also possible to set a motion profile such as containing an inversion.
運動曲線亦能夠依照上模具與下模具的形狀、工件形狀、工件材質、適合工件成形之滑件運動等條件來進行變更。例如，當為更換模具進行各式工件成形之衝壓機械時，亦能夠為預先求得每個模具．工件各自的最佳運動曲線，在變更模具．工件時亦同時變更運動曲線之構成。The motion profile can also be changed in accordance with conditions such as the shape of the upper and lower dies, the shape of the workpiece, the material of the workpiece, and the movement of the slider suitable for forming the workpiece. For example, when a stamping machine for forming various workpieces for changing a mold is used, it is also possible to obtain each mold in advance. The optimum motion curve of each workpiece is changed in the mold. The composition of the motion curve is also changed at the same time as the workpiece.
另外由於能夠由電子手段產生主信號，所以值不會不穩定，同步於該值而動作之衝壓機械．搬送裝置的動作亦不會不穩定。In addition, since the main signal can be generated by electronic means, the value is not unstable, and the stamping machine is operated in synchronization with the value. The operation of the transport device is not unstable.
即使為如螺旋式壓機不具有主驅動軸的構成之伺服壓機時，仍能夠使壓機的動作與搬送裝置的動作時時刻刻連動。Even in the case of a servo press having a configuration in which the screw press does not have the main drive shaft, the operation of the press and the operation of the transport device can be interlocked at all times.
再者，本發明並非限定為上述的實施形態，在不脫離本發明的主旨之範圍內當可進行各種的變更。The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit and scope of the invention.
1．．．主信號1. . . Main signal
10、100．．．伺服壓機裝置10,100. . . Servo press device
11．．．伺服馬達11. . . Servo motor
13．．．動力傳達機構13. . . Power transmission agency
14、103．．．滑件14,103. . . Slider
20、30、200、300．．．搬送裝置20, 30, 200, 300. . . Transport device
40．．．控制裝置40. . . Control device
42．．．主信號產生器42. . . Main signal generator
44．．．伺服壓機控制裝置44. . . Servo press control device
46、46A、46B．．．搬送控制裝置46, 46A, 46B. . . Transport control device
101．．．主馬達101. . . Main motor
102．．．滑件驅動機構102. . . Slider drive mechanism
104．．．上模具104. . . Upper mold
105．．．下模具105. . . Lower mold
106．．．工作台106. . . Workbench
107．．．框架107. . . frame
108．．．工件108. . . Workpiece
121．．．編碼器121. . . Encoder
122．．．主馬達控制器122. . . Main motor controller
123．．．主馬達放大器123. . . Main motor amplifier
141．．．滑件位置指令產生器141. . . Slider position command generator
201、301．．．搬送裝置工件把持具201, 301. . . Transfer device workpiece holding tool
202、302．．．搬送裝置活動台202, 302. . . Transport unit
203、303．．．搬送裝置進給機構203, 303. . . Transport device feed mechanism
204、304．．．搬送裝置進給馬達204, 304. . . Transport device feed motor
205、305．．．搬送裝置升降機構205, 305. . . Transfer device lifting mechanism
206、306．．．搬送裝置升降馬達206, 306. . . Transport device lift motor
221、321．．．搬送裝置進給編碼器221, 321. . . Transport device feed encoder
222、322．．．搬送裝置進給馬達控制器222, 322. . . Transport device feed motor controller
223、323．．．搬送裝置進給馬達放大器223, 323. . . Transport device feed motor amplifier
224、324．．．搬送裝置升降編碼器224, 324. . . Transport device lifting encoder
225、325．．．搬送裝置升降馬達控制器225, 325. . . Transport device lift motor controller
226、326．．．搬送裝置升降馬達放大器226, 326. . . Transport device lift motor amplifier
241、341．．．搬送裝置位置指令產生器241, 341. . . Transport device position command generator
第1圖係專利文獻2的「伺服馬達驅動型連桿式壓機」的示意圖。Fig. 1 is a schematic view showing a "servo motor-driven link type press" of Patent Document 2.
第2圖係本發明的伺服壓機設備的整體構成圖。Fig. 2 is a view showing the overall configuration of a servo press apparatus of the present invention.
第3圖係本發明的伺服壓機設備的控制方法的整體流程圖。Fig. 3 is an overall flow chart showing a control method of the servo press apparatus of the present invention.
第4圖(A)至(F)係顯示使搬送裝置與伺服壓機裝置同步之1週期份的關係之圖。Fig. 4(A) to Fig. 4(F) are diagrams showing the relationship between one cycle of the transfer device and the servo press device.
第5A圖係顯示依照有期望運轉狀態之主信號值的時間變化模式的例之圖。Fig. 5A is a diagram showing an example of a time change pattern in accordance with a main signal value having a desired operational state.
第5B圖係顯示依照有期望運轉狀態之主信號值的時間變化模式的其他例之圖。Fig. 5B is a view showing another example of a time change pattern in accordance with a main signal value having a desired operational state.
第5C圖係顯示依照有期望運轉狀態之主信號值的時間變化模式的其他例之圖。Fig. 5C is a view showing another example of a time change pattern in accordance with a main signal value having a desired operational state.
第5D圖係顯示依照有期望運轉狀態之主信號值的時間變化模式的其他例之圖。Fig. 5D is a view showing another example of a time change pattern in accordance with a main signal value having a desired operational state.
第6圖係本發明的伺服壓機設備的具體實施例。Figure 6 is a specific embodiment of the servo press apparatus of the present invention.
第7圖係顯示使搬送裝置與伺服壓機裝置同步之2週期份的關係之圖。Fig. 7 is a view showing the relationship between two stages of synchronization of the conveying device and the servo pressing device.
1．．．主信號1. . . Main signal
Claims (6)
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| JP2006322836A JP5019250B2 (en) | 2006-11-30 | 2006-11-30 | Servo press equipment and control method |
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| TWI380899B true TWI380899B (en) | 2013-01-01 |
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| JP (1) | JP5019250B2 (en) |
| KR (1) | KR101168240B1 (en) |
| CN (1) | CN101547785B (en) |
| BR (1) | BRPI0719374A2 (en) |
| DE (1) | DE112007002616T5 (en) |
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| JP5136847B2 (en) * | 2008-05-12 | 2013-02-06 | 株式会社Ｉｈｉ | Servo press equipment and control method |
| JP4702901B2 (en) * | 2008-07-07 | 2011-06-15 | アイダエンジニアリング株式会社 | Servo press line operation method and operation control device |
| JP2010221271A (en) * | 2009-03-24 | 2010-10-07 | Hitachi Zosen Fukui Corp | Method for controlling tandem press line, and tandem press line controlled thereby |
| JP5421978B2 (en) * | 2011-11-15 | 2014-02-19 | 株式会社放電精密加工研究所 | Operating method of electric press machine |
| JP5844838B2 (en) | 2013-05-30 | 2016-01-20 | アイダエンジニアリング株式会社 | Servo press line operation method and operation control device |
| JP2016215240A (en) * | 2015-05-21 | 2016-12-22 | 株式会社栗本鐵工所 | Transfer press control method |
| CN106154964B (en) * | 2016-08-15 | 2018-10-09 | 王赟 | The process control method and all-in-one machine control device of mechanical pressure equipment |
| ES2697058B2 (en) * | 2017-07-19 | 2019-07-08 | Fagor Arrasate S Coop | Control method for a press installation, and associated installation |
| JP6952551B2 (en) * | 2017-09-22 | 2021-10-20 | コマツ産機株式会社 | Press system |
| JP7028625B2 (en) | 2017-12-14 | 2022-03-02 | 株式会社ジャノメ | Electric press, load determination method and program |
| JP7041528B2 (en) * | 2018-01-17 | 2022-03-24 | 株式会社ジャノメ | Press equipment, load compensation methods and programs |
| CN112424717B (en) * | 2018-08-30 | 2024-04-16 | 株式会社安川电机 | Data acquisition system and motor control device of industrial equipment |
| CN110239140B (en) * | 2019-06-13 | 2021-06-15 | 博众精工科技股份有限公司 | Servo laminating equipment pressure control method based on input shaping |
| JP7437446B2 (en) * | 2022-06-10 | 2024-02-22 | 株式会社アマダ | Press system and press system control method |
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| JP2005238261A (en) * | 2004-02-25 | 2005-09-08 | Aida Eng Ltd | Method for operating press and press |
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| JPS58224904A (en) | 1982-06-24 | 1983-12-27 | Ckd Corp | Synchronization method of transfer device |
| JPH11245097A (en) * | 1998-02-26 | 1999-09-14 | Aida Eng Ltd | Timing signal generating device of servo press |
| JP3340095B2 (en) | 1999-09-03 | 2002-10-28 | 株式会社エイチアンドエフ | Automatic transfer control method and device for press |
| JP3988911B2 (en) * | 1999-09-24 | 2007-10-10 | 株式会社小松製作所 | Servo transfer feeder device operation screen display method |
| JP2003320489A (en) | 2002-05-01 | 2003-11-11 | Murata Mach Ltd | Servomotor driven type link press |
| JP2004025294A (en) * | 2002-06-28 | 2004-01-29 | Komatsu Aatec Kk | Work conveyance system of press machine and controller for the same |
| JP2004074209A (en) * | 2002-08-15 | 2004-03-11 | Kohei Muramoto | Multiple press transfer apparatus |
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| JP2005238261A (en) * | 2004-02-25 | 2005-09-08 | Aida Eng Ltd | Method for operating press and press |
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| WO2008065940A1 (en) | 2008-06-05 |
| TW200823044A (en) | 2008-06-01 |
| KR101168240B1 (en) | 2012-07-30 |
| JP2008137015A (en) | 2008-06-19 |
| CN101547785A (en) | 2009-09-30 |
| KR20090085061A (en) | 2009-08-06 |
| CN101547785B (en) | 2013-08-21 |
| BRPI0719374A2 (en) | 2014-02-11 |
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| DE112007002616T5 (en) | 2009-10-08 |
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